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| • Previous call tries 7 | • 46.77 of 150.00 AH used of 24V (68.82% remains) | |
| • Previous NAKs 0, Timeouts 0 | • 32.00 of 97.00 AH used of 10V (67.01% remains) | |
| • Surface angle -63.7 deg, depth 2.33 m | • Intended pitch -9.9 deg, speed -6.000 cm/s | |
| • No surface pump (final VBD was 463.13, SM_CC=250) | ||
| • GPS1 time: 40 s | • bottom range 96.8 m at 412.0 m, depth 509 m (990 m grid) | |
| • GPS2 time: 6 s | • Transponder ping count: 1 | |
| • Time spent turning 0 s |
| t(s) | depth(m) | w(cm/s) | num pts | t(s) | GC phase | pitch | roll | VBD | pit | rol | VBD | volts | |||||||||||||||||
| ctl(cm) | t(s) | A | pos(AD) | rate | t(s) | A | pos(AD) | rate | ctl(cc) | t(s) | A | pos(AD) | rate | eff | r | e | r | e | r | e | pit | roll | vbd | flags | |||||
| 13 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 13 | begin dive | ||||||||||||||||||||||||||||
| 15 | - | - | - | 50 | VBD | -0.47 | - | - | 108 | - | - | - | 2244 | - | -146.6 | -33.15 | - | 1926 | - | - | - | - | - | - | - | - | - | - | - |
| 53 | 3.0 | -3.8 | 3 | 100 | roll | -0.47 | 9.55 | 0.190 | 2688 | 270.2 | 2.22 | 0.048 | 825 | -639.2 | -146.6 | -30.80 | - | 2998 | -34.8 | - | - | - | - | - | - | - | 25.07 | 26.06 | 26.64 |
| 326 | 33.2 | -12.1 | 30 | 336 | done | -0.35 | 0.17 | 0.124 | 2732 | 258.8 | 2.12 | 0.033 | 2225 | 660.4 | -146.6 | - | - | 2998 | - | - | - | - | - | - | - | - | 25.93 | 26.22 | - |
| 637 | 60.3 | -7.8 | 61 | 645 | roll | -0.29 | - | - | 2732 | - | 2.15 | 0.037 | 819 | -654.0 | -146.6 | - | - | 2998 | - | - | - | - | - | - | - | - | - | 26.28 | - |
| 771 | 71.3 | -7.2 | 74 | 781 | done | -0.24 | 0.08 | 0.104 | 2759 | 337.5 | 2.12 | 0.033 | 2231 | 666.0 | -146.6 | - | - | 2998 | - | - | - | - | - | - | - | - | 26.10 | 26.32 | - |
| 1080 | 90.8 | -6.6 | 97 | 1086 | roll | -0.24 | - | - | 2752 | - | 2.15 | 0.044 | 3627 | 649.3 | -146.6 | - | - | 2998 | - | - | - | - | - | - | - | - | - | 26.22 | - |
| 1233 | 100.2 | -6.7 | 104 | 1240 | done | -0.24 | - | - | 2752 | - | 2.12 | 0.027 | 2219 | -664.2 | -146.6 | - | - | 2998 | - | - | - | - | - | - | - | - | - | 26.47 | - |
| 1539 | 119.3 | -5.1 | 120 | 1545 | roll | -0.24 | - | - | 2752 | - | 2.12 | 0.037 | 827 | -656.6 | -146.6 | - | - | 2998 | - | - | - | - | - | - | - | - | - | 26.34 | - |
| 1623 | 123.6 | -5.4 | 124 | 1627 | done | -0.24 | - | - | 2748 | - | 2.12 | 0.033 | 2234 | 663.7 | -146.6 | - | - | 2998 | - | - | - | - | - | - | - | - | - | 26.35 | - |
| 1935 | 138.0 | -4.4 | 140 | 1940 | roll | -0.24 | - | - | 2749 | - | 2.15 | 0.035 | 834 | -651.2 | -146.6 | - | - | 2998 | - | - | - | - | - | - | - | - | - | 26.34 | - |
| 1998 | 140.8 | -4.5 | 143 | 2002 | done | -0.24 | - | - | 2743 | - | 2.17 | 0.033 | 2256 | 655.3 | -146.6 | - | - | 2998 | - | - | - | - | - | - | - | - | - | 26.36 | - |
| 2318 | 156.2 | -5.1 | 157 | 2323 | roll | -0.24 | - | - | 2743 | - | 2.17 | 0.036 | 834 | -655.3 | -146.6 | - | - | 2998 | - | - | - | - | - | - | - | - | - | 26.33 | - |
| 2379 | 159.6 | -5.4 | 159 | 2383 | done | -0.24 | - | - | 2737 | - | 2.15 | 0.033 | 2242 | 654.9 | -146.6 | - | - | 2998 | - | - | - | - | - | - | - | - | - | 26.36 | - |
| 2701 | 177.1 | -5.2 | 170 | 2702 | done | -0.24 | - | - | 2737 | - | - | - | 2243 | - | -146.6 | - | - | 2997 | - | - | - | - | - | - | - | - | - | - | - |
| 3001 | 193.2 | -5.7 | 180 | 3006 | roll | -0.24 | - | - | 2737 | - | 2.17 | 0.037 | 829 | -651.6 | -146.6 | - | - | 2997 | - | - | - | - | - | - | - | - | - | 26.33 | - |
| 3064 | 196.8 | -5.8 | 182 | 3068 | done | -0.24 | - | - | 2735 | - | 2.15 | 0.033 | 2234 | 653.5 | -146.6 | - | - | 2998 | - | - | - | - | - | - | - | - | - | 26.35 | - |
| 3392 | 217.2 | -6.2 | 193 | 3395 | roll | -0.24 | - | - | 2735 | - | 2.17 | 0.036 | 832 | -646.1 | -146.6 | - | - | 2997 | - | - | - | - | - | - | - | - | - | 26.33 | - |
| 3452 | 221.3 | -6.5 | 195 | 3459 | done | -0.24 | 0.12 | 0.121 | 2771 | 300.0 | 2.15 | 0.033 | 2243 | 656.3 | -146.6 | - | - | 2997 | - | - | - | - | - | - | - | - | 26.17 | 26.35 | - |
| 3784 | 238.1 | -5.0 | 206 | 3785 | done | -0.31 | - | - | 2771 | - | - | - | 2243 | - | -146.6 | - | - | 2998 | - | - | - | - | - | - | - | - | - | - | - |
| 4083 | 253.2 | -5.1 | 216 | 4090 | roll | -0.38 | 0.12 | 0.076 | 2665 | -883.3 | 2.20 | 0.035 | 828 | -643.2 | -146.6 | - | - | 2997 | - | - | - | - | - | - | - | - | 26.70 | 26.32 | - |
| 4145 | 258.1 | -6.6 | 218 | 4150 | done | -0.38 | 0.17 | 0.095 | 2719 | 317.6 | 2.17 | 0.033 | 2232 | 647.0 | -146.6 | - | - | 2998 | - | - | - | - | - | - | - | - | 26.01 | 26.34 | - |
| 4474 | 277.9 | -5.5 | 229 | 4475 | done | -0.38 | - | - | 2719 | - | - | - | 2232 | - | -146.6 | - | - | 2997 | - | - | - | - | - | - | - | - | - | - | - |
| 4773 | 294.9 | -5.8 | 239 | 4778 | roll | -0.38 | - | - | 2719 | - | 2.15 | 0.037 | 836 | -649.3 | -146.6 | - | - | 2997 | - | - | - | - | - | - | - | - | - | 26.32 | - |
| 4834 | 298.5 | -6.0 | 241 | 4837 | done | -0.38 | - | - | 2718 | - | 2.15 | 0.034 | 2238 | 652.1 | -146.6 | - | - | 2997 | - | - | - | - | - | - | - | - | - | 26.34 | - |
| 5165 | 317.1 | -5.5 | 247 | 5166 | done | -0.38 | - | - | 2718 | - | - | - | 2238 | - | -146.6 | - | - | 2997 | - | - | - | - | - | - | - | - | - | - | - |
| 5467 | 331.9 | -4.9 | 252 | 5468 | done | -0.38 | - | - | 2718 | - | - | - | 2238 | - | -146.6 | - | - | 2996 | - | - | - | - | - | - | - | - | - | - | - |
| 5766 | 346.6 | -4.9 | 257 | 5771 | roll | -0.38 | - | - | 2717 | - | 2.15 | 0.037 | 834 | -653.0 | -146.6 | - | - | 2996 | - | - | - | - | - | - | - | - | - | 26.30 | - |
| 5813 | 346.6 | -4.9 | 257 | 5817 | done | -0.38 | - | - | 2717 | - | 2.15 | 0.034 | 2236 | 652.1 | -146.6 | - | - | 2996 | - | - | - | - | - | - | - | - | - | 26.33 | - |
| 6125 | 367.8 | -6.0 | 263 | 6131 | roll | -0.38 | - | - | 2716 | - | 2.17 | 0.044 | 3631 | 642.9 | -146.6 | - | - | 2996 | - | - | - | - | - | - | - | - | - | 26.18 | - |
| 6168 | 367.8 | -6.0 | 263 | 6172 | done | -0.38 | - | - | 2716 | - | 2.10 | 0.028 | 2220 | -671.9 | -146.6 | - | - | 2996 | - | - | - | - | - | - | - | - | - | 26.46 | - |
| 6480 | 388.5 | -5.8 | 269 | 6486 | roll | -0.38 | - | - | 2716 | - | 2.12 | 0.037 | 834 | -653.8 | -146.6 | - | - | 2996 | - | - | - | - | - | - | - | - | - | 26.29 | - |
| 6579 | 392.1 | -5.8 | 270 | 6584 | done | -0.38 | - | - | 2716 | - | 2.15 | 0.034 | 2240 | 654.0 | -146.6 | - | - | 2996 | - | - | - | - | - | - | - | - | - | 26.32 | - |
| 6899 | 412.0 | -5.6 | 276 | 6904 | roll | -0.38 | - | - | 2716 | - | 2.15 | 0.037 | 839 | -651.6 | -146.6 | - | - | 2996 | - | - | - | - | - | - | - | - | - | 26.29 | - |
| 7000 | 415.3 | -5.5 | 277 | 7004 | done | -0.38 | - | - | 2716 | - | 2.15 | 0.034 | 2245 | 654.0 | -146.6 | - | - | 2996 | - | - | - | - | - | - | - | - | - | 26.32 | - |
| 7312 | 434.6 | -5.3 | 283 | 7318 | roll | -0.38 | - | - | 2716 | - | 2.17 | 0.037 | 837 | -648.8 | -146.6 | - | - | 2995 | - | - | - | - | - | - | - | - | - | 26.29 | - |
| 7380 | 438.0 | -5.4 | 284 | 7384 | done | -0.38 | - | - | 2716 | - | 2.12 | 0.034 | 2235 | 659.4 | -146.6 | - | - | 2994 | - | - | - | - | - | - | - | - | - | 26.31 | - |
| 7727 | 457.8 | -5.5 | 290 | 7733 | roll | -0.38 | - | - | 2716 | - | 2.15 | 0.037 | 838 | -649.8 | -146.6 | - | - | 2995 | - | - | - | - | - | - | - | - | - | 26.29 | - |
| 7775 | 457.8 | -5.5 | 290 | 7779 | done | -0.38 | - | - | 2716 | - | 2.15 | 0.034 | 2233 | 648.8 | -146.6 | - | - | 2994 | - | - | - | - | - | - | - | - | - | 26.30 | - |
| 8082 | 478.2 | -5.7 | 295 | 8083 | done | -0.38 | - | - | 2716 | - | - | - | 2234 | - | -146.6 | - | - | 2994 | - | - | - | - | - | - | - | - | - | - | - |
| 8382 | 491.7 | -4.6 | 300 | 8388 | roll | -0.43 | - | - | 2716 | - | 2.15 | 0.037 | 842 | -647.4 | -146.6 | - | - | 2994 | - | - | - | - | - | - | - | - | - | 26.28 | - |
| 8460 | 495.4 | -5.3 | 301 | 8464 | done | -0.43 | - | - | 2716 | - | 2.12 | 0.034 | 2234 | 656.6 | -146.6 | - | - | 2994 | - | - | - | - | - | - | - | - | - | 26.30 | - |
| 8495 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 8495 | begin apogee | ||||||||||||||||||||||||||||
| 8500 | 498.8 | -5.8 | 302 | 8619 | done | -0.24 | 0.12 | 0.116 | 2762 | 383.3 | - | - | 1998 | - | - | 115.10 | 0.926 | 2400 | -5.2 | 0.302 | - | - | - | - | - | - | 26.46 | - | 23.45 |
| 8621 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 8621 | begin climb | ||||||||||||||||||||||||||||
| 8623 | 499.6 | - | 304 | 8752 | roll | 0.47 | 0.65 | 0.055 | 3003 | 370.8 | 2.38 | 0.038 | 624 | -577.3 | 146.6 | 120.32 | 0.894 | 1801 | -5.0 | 0.302 | - | - | - | - | - | - | 25.07 | 24.03 | 22.61 |
| 8797 | 494.8 | 3.8 | 307 | 8801 | done | 0.47 | - | - | 3004 | - | 2.25 | 0.031 | 2005 | 613.8 | 146.6 | - | - | 1796 | - | - | - | - | - | - | - | - | - | 24.65 | - |
| 9155 | 478.6 | 4.8 | 313 | 9192 | done | 0.47 | - | - | 3004 | - | - | - | 2005 | - | 189.0 | 34.50 | 0.894 | 1628 | -4.9 | 0.283 | - | - | - | - | - | - | - | - | 24.06 |
| 9455 | 464.0 | 4.6 | 318 | 9502 | roll | 0.47 | - | - | 3009 | - | 2.33 | 0.042 | 618 | -595.3 | 239.3 | 40.88 | 0.887 | 1423 | -5.0 | 0.285 | - | - | - | - | - | - | - | 25.51 | 24.10 |
| 9607 | 456.3 | 4.7 | 320 | 9652 | done | 0.47 | - | - | 3009 | - | 2.15 | 0.032 | 2003 | 644.2 | 285.6 | 37.88 | 0.881 | 1235 | -5.0 | 0.279 | - | - | - | - | - | - | - | 25.98 | 24.03 |
| 9995 | 430.5 | 6.1 | 327 | 9997 | done | 0.52 | - | - | 3009 | - | - | - | 2003 | - | 285.6 | - | - | 1230 | - | - | - | - | - | - | - | - | - | - | - |
| 10295 | 411.8 | 6.2 | 332 | 10300 | roll | 0.57 | - | - | 3014 | - | 2.17 | 0.042 | 620 | -637.3 | 285.6 | - | - | 1229 | - | - | - | - | - | - | - | - | - | 26.24 | - |
| 10363 | 407.9 | 6.4 | 333 | 10366 | done | 0.63 | - | - | 3014 | - | 2.12 | 0.032 | 2004 | 652.8 | 285.6 | - | - | 1228 | - | - | - | - | - | - | - | - | - | 26.34 | - |
| 10715 | 385.4 | 6.3 | 339 | 10721 | roll | 0.68 | 0.12 | 0.080 | 3129 | 958.3 | 2.20 | 0.041 | 612 | -632.7 | 285.6 | - | - | 1228 | - | - | - | - | - | - | - | - | 26.62 | 26.27 | - |
| 10758 | 385.4 | 6.3 | 339 | 10762 | done | 0.73 | 0.17 | 0.113 | 3075 | -317.6 | 2.10 | 0.032 | 1999 | 660.5 | 285.6 | - | - | 1227 | - | - | - | - | - | - | - | - | 26.15 | 26.38 | - |
| 11070 | 355.2 | 8.2 | 345 | 11076 | roll | 0.73 | - | - | 3083 | - | 2.17 | 0.042 | 619 | -635.9 | 285.6 | - | - | 1227 | - | - | - | - | - | - | - | - | - | 26.28 | - |
| 11102 | 355.2 | 8.2 | 345 | 11106 | done | 0.73 | - | - | 3083 | - | 2.10 | 0.032 | 1999 | 657.1 | 285.6 | - | - | 1227 | - | - | - | - | - | - | - | - | - | 26.39 | - |
| 11429 | 326.6 | 8.0 | 351 | 11435 | roll | 0.73 | - | - | 3092 | - | 2.20 | 0.043 | 613 | -630.0 | 285.6 | - | - | 1227 | - | - | - | - | - | - | - | - | - | 26.27 | - |
| 11464 | 326.6 | 8.0 | 351 | 11468 | done | 0.73 | - | - | 3092 | - | 2.12 | 0.033 | 2007 | 657.5 | 285.6 | - | - | 1227 | - | - | - | - | - | - | - | - | - | 26.39 | - |
| 11785 | 296.6 | 8.6 | 357 | 11787 | done | 0.68 | 0.12 | 0.125 | 3053 | -325.0 | - | - | 2007 | - | 285.6 | - | - | 1227 | - | - | - | - | - | - | - | - | 26.49 | - | - |
| 12085 | 276.6 | 6.6 | 367 | 12089 | roll | 0.68 | - | - | 3060 | - | 2.20 | 0.042 | 618 | -631.4 | 285.6 | - | - | 1227 | - | - | - | - | - | - | - | - | - | 26.28 | - |
| 12142 | 273.1 | 6.5 | 369 | 12148 | done | 0.68 | - | - | 3060 | - | 2.12 | 0.032 | 2007 | 655.2 | 285.6 | - | - | 1227 | - | - | - | - | - | - | - | - | - | 26.39 | - |
| 12471 | 250.6 | 7.0 | 380 | 12477 | roll | 0.68 | - | - | 3067 | - | 2.22 | 0.043 | 614 | -627.5 | 285.6 | - | - | 1227 | - | - | - | - | - | - | - | - | - | 26.26 | - |
| 12514 | 248.5 | 6.9 | 381 | 12518 | done | 0.68 | - | - | 3067 | - | 2.10 | 0.032 | 2000 | 660.0 | 285.6 | - | - | 1227 | - | - | - | - | - | - | - | - | - | 26.39 | - |
| 12831 | 223.0 | 7.9 | 392 | 12833 | done | 0.68 | - | - | 3067 | - | - | - | 2000 | - | 285.6 | - | - | 1227 | - | - | - | - | - | - | - | - | - | - | - |
| 13131 | 199.9 | 7.4 | 402 | 13137 | roll | 0.68 | - | - | 3072 | - | 2.17 | 0.043 | 620 | -635.9 | 285.6 | - | - | 1227 | - | - | - | - | - | - | - | - | - | 26.25 | - |
| 13191 | 195.6 | 7.1 | 404 | 13195 | done | 0.68 | - | - | 3072 | - | 2.12 | 0.032 | 2007 | 654.2 | 285.6 | - | - | 1227 | - | - | - | - | - | - | - | - | - | 26.38 | - |
| 13522 | 172.8 | 6.4 | 415 | 13523 | done | 0.68 | - | - | 3072 | - | - | - | 2007 | - | 285.6 | - | - | 1227 | - | - | - | - | - | - | - | - | - | - | - |
| 13823 | 155.8 | 5.5 | 425 | 13844 | roll | 0.68 | - | - | 3073 | - | 2.28 | 0.042 | 617 | -609.6 | 303.8 | 15.05 | 0.654 | 1160 | -4.5 | 0.115 | - | - | - | - | - | - | - | 26.15 | 24.38 |
| 13882 | 152.6 | 5.4 | 427 | 13906 | done | 0.68 | - | - | 3073 | - | 2.12 | 0.031 | 2000 | 652.4 | 325.5 | 18.75 | 0.689 | 1073 | -4.6 | 0.112 | - | - | - | - | - | - | - | 26.25 | 24.41 |
| 14218 | 134.6 | 5.2 | 442 | 14249 | roll | 0.68 | - | - | 3074 | - | 2.30 | 0.042 | 615 | -602.2 | 354.5 | 24.23 | 0.686 | 953 | -5.0 | 0.105 | - | - | - | - | - | - | - | 25.91 | 24.50 |
| 14285 | 131.4 | 5.3 | 445 | 14312 | done | 0.68 | - | - | 3074 | - | 2.15 | 0.031 | 2000 | 644.2 | 379.5 | 21.12 | 0.666 | 852 | -4.8 | 0.102 | - | - | - | - | - | - | - | 26.04 | 24.34 |
| 14615 | 115.5 | 4.6 | 461 | 14661 | roll | 0.73 | - | - | 3077 | - | 2.22 | 0.041 | 622 | -620.7 | 429.6 | 40.53 | 0.672 | 646 | -5.1 | 0.095 | - | - | - | - | - | - | - | 25.70 | 24.43 |
| 14731 | 109.4 | 5.6 | 467 | 14749 | done | 0.79 | - | - | 3076 | - | 2.17 | 0.031 | 1998 | 634.1 | 443.8 | 12.27 | 0.614 | 589 | -4.6 | 0.090 | - | - | - | - | - | - | - | 25.98 | 24.38 |
| 15051 | 91.7 | 5.5 | 483 | 15072 | roll | 0.88 | 0.12 | 0.080 | 3182 | 883.3 | 2.25 | 0.042 | 628 | -608.9 | 461.6 | 14.73 | 0.623 | 516 | -5.0 | 0.079 | - | - | - | - | - | - | 26.46 | 26.03 | 24.62 |
| 15143 | 82.9 | 11.1 | 487 | 15151 | done | 0.88 | 0.20 | 0.108 | 3121 | -305.0 | 2.10 | 0.031 | 2007 | 656.7 | 461.6 | - | - | 515 | - | - | - | - | - | - | - | - | 25.93 | 26.15 | - |
| 15450 | 55.4 | 8.3 | 517 | 15459 | roll | 0.88 | - | - | 3127 | - | 2.20 | 0.041 | 612 | -634.1 | 461.6 | - | - | 514 | - | - | - | - | - | - | - | - | - | 26.20 | - |
| 15501 | 51.2 | 8.5 | 522 | 15506 | done | 0.88 | - | - | 3127 | - | 2.12 | 0.031 | 2011 | 659.9 | 461.6 | - | - | 514 | - | - | - | - | - | - | - | - | - | 26.32 | - |
| 15807 | 27.8 | 7.3 | 552 | 15816 | roll | 0.93 | - | - | 3134 | - | 2.20 | 0.041 | 621 | -631.8 | 461.6 | - | - | 513 | - | - | - | - | - | - | - | - | - | 26.26 | - |
| 15880 | 22.7 | 7.2 | 559 | 15889 | done | 0.98 | - | - | 3134 | - | 2.10 | 0.031 | 2012 | 662.4 | 461.6 | - | - | 512 | - | - | - | - | - | - | - | - | - | 26.39 | - |
| 16188 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16188 | begin surface coast | ||||||||||||||||||||||||||||
| 16229 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 16229 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.44 | - | - | - | - | -8.21 | 7.53 | 0.022 | 147 | 19.5 | 0.30 | 0.052 | 2231 | 4003.3 | 463.13 | - | - | 512 | - | - | - | - | - | - | - | - | |||